CN102256550B - Surgical instrument and coupling structure for surgical robot - Google Patents
Surgical instrument and coupling structure for surgical robot Download PDFInfo
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- CN102256550B CN102256550B CN200980149982.8A CN200980149982A CN102256550B CN 102256550 B CN102256550 B CN 102256550B CN 200980149982 A CN200980149982 A CN 200980149982A CN 102256550 B CN102256550 B CN 102256550B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
- A61B2017/2912—Handles transmission of forces to actuating rod or piston
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
- A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
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- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Ophthalmology & Optometry (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
Abstract
Disclosed are a surgical instrument and a coupling structure for a surgical robot. The surgical instrument, which may be mounted on a surgical robot for operation, and which may perform a maneuver required for surgery by moving and rotating an effector joined to one end of the surgical instrument, may include: a first driving component that rotates about a first axis, a second driving component joined to the first driving component that rotates the first driving component about a second axis which intersects the first axis, a third driving component joined to the second driving component that rotates the second driving component about a third axis which intersects the second axis, a shaft joined to the third driving component that extends in one direction and has the effector joined to one end, and a housing that holds the first driving component, the second driving component, and the third driving component. As the driving components for moving the effector can be provided in a systematically connected form, instead of having each of the driving components arranged independently, the size of the surgical instrument may be reduced. Also, by forming the driving components as a three-dimensional structure instead of using two-dimensional pulleys, the transfer of forces required for the complex movements of the effector can be implemented simultaneously. Embodiments of the present invention can also readily be applied to a snake type surgical instrument.
Description
Technical field
The present invention relates to a kind of operating theater instruments and the connecting structure for operating robot.
Background technology
At medical domain, operation refers to the skin, mucosa or other tissue that use armarium to cut or cut or otherwise operate patient, to process the process of pathological condition.May exist such as the operation process of laparotomy ventrotomy that cuts skin and processing, reconstruct or devisceration etc. lose blood, the problem of side effect, pain and cicatrix, therefore, the use of operating robot is considered to a kind of welcome alternative at present.
One group of operating robot can comprise: initiatively robot, operates described active robot to produce and to transmit required signal by surgeon; And slave robot, it receives the signal from active robot, so that patient is carried out to practical operation.Initiatively robot and slave robot can be used as integrated unit or independent device and are disposed in operating room.
Slave robot can be equipped with robots arm, to carry out operation technique, and simultaneously can be in robots arm's front end installing apparatus.As shown in Figure 1, traditional apparatus 54 can comprise shell 108, the tong-like executor parts 112 of the axle 102 that extends from shell 108 and the far-end 106 that is arranged on the axle 102 that will insert operative site.Interface unit 110 can be formed on the bottom surface of shell 108.
As shown in Figure 2, on the bottom surface of the traditional instruments 54 of this type, can engage multiple driving wheels 118.The line being connected with the various piece of executor's parts 112 can engage with driving wheel 118 by pulley, thereby in the time that driving wheel 118 rotates, can apply pulling force to line, and a part for executor's parts 112 is moved.
But, for traditional apparatus, mobile in order to make executor 112 there is 4DOF, for example, may need four independently pulleys, therefore four driving wheels 118 need to be installed on interface unit 110.
In other words, for traditional apparatus provides the executor of the degree of freedom with some, the independent driving wheel of independent sheaves and the respective numbers of corresponding quantity can be installed on described apparatus.Because the space that multiple driving wheels are installed is set up in the enclosure, therefore there is the restriction of the entirety size that reduces apparatus.
Summary of the invention
Technical problem
One aspect of the present invention provides a kind of operating theater instruments and the connecting structure for operating robot, wherein, can minimize the size of the executor's of mobile operating theater instruments driver part, and connect methodically owing to forming the driven unit of described driver part, therefore utilize described operating theater instruments and move for the complexity that the connecting structure of operating robot can be realized executor simultaneously.
Technical scheme
One aspect of the present invention provides a kind of operating theater instruments, and it can be installed on operating robot to operate, and the executor that described operating theater instruments can be closed by mobile and rotation and one termination carries out the required action of performing the operation.This operating theater instruments comprises: the first driven unit, rotates around the first axle; The second driven unit, engages with described the first driven unit, and described the second driven unit makes described the first driven unit rotate around the second axle crossing with described the first axle; The 3rd driven unit, engages with described the second driven unit, and described the 3rd driven unit makes described the second driven unit rotate around the 3rd axle crossing with described the second axle; Bar, engages with described the 3rd driven unit, and described bar extends and makes described executor be bonded on its end along a direction; And shell, hold described the first driven unit, described the second driven unit and described the 3rd driven unit.
Described executor can comprise for carrying out the mobile a pair of claw of grasping, and engage with described the first driven unit for the line that operates described a pair of claw.In this case, a part for described the first driven unit can be passed in one end of described line, and the other end of described line is connected with described a pair of claw.
Described the first driven unit can comprise each a pair of driver of rotating around described the first axle, and described executor can comprise that execution grasps mobile a pair of claw, meanwhile, can engage with described a pair of driver respectively for a pair of pulley line that operates described a pair of claw.In addition, described executor can comprise: a pair of claw, and carry out to grasp and move; The first rotating shaft, the center of rotation moving as the grasping of described a pair of claw; And second rotating shaft, as center of rotation, make described a pair of claw towards specific direction, wherein, one in described a pair of driver can engage with described the first rotating shaft by pulley, and another in described a pair of driver can engage with described the second rotating shaft by pulley.
Described driver can be shaped as the hemisphere that limit is passed by described the first axle, and described a pair of driver can be placed as the big circumference of described hemisphere is adjoined mutually.Described the first driven unit can be shaped as spherical that limit passed by described the first axle, described the second driven unit can be shaped as the band shape around the periphery of described the first driven unit, and described the 3rd driven unit can be shaped as the tubular around described the second driven unit.
Described executor can be constructed to tilt around specific sloping shaft, and pulley line can engage with described the second driven unit, and described pulley line can engage described executor can be tilted with described sloping shaft.Described executor can be constructed to rotate in linkage with described bar, and described bar can be constructed to rotate around the 3rd axle in linkage with described the 3rd driven unit.In this case, described executor can engage with described bar, and described bar can engage and be integrated with described the 3rd driven unit.Handle can engage with described the first driven unit, and described the first driven unit can be constructed to rotate around described the first axle according to the manipulation of described handle.
Another aspect of the present invention provides a kind of operating theater instruments, and it can be arranged on the enterprising line operate of operating robot, and described operating theater instruments can rotate the bar extending along direction, makes to move towards operative site with the executor of the distal engagement of described bar.Described operating theater instruments comprises: the first driven unit, rotates around the first axle; The second driven unit, engages with described the first driven unit, and described the second driven unit makes described the first driven unit rotate around the second axle crossing with described the first axle; The 3rd driven unit, engages with described the second driven unit, and described the 3rd driven unit makes described the second driven unit rotate around the 3rd axle crossing with described the second axle; And shell, hold described the first driven unit, described the second driven unit and described the 3rd driven unit, wherein, described bar engages with described the 3rd driven unit.
Line can with each joint the in described the first driven unit and described the second driven unit, thereby described line provides pulling force to make the described bar can be along specific direction bending.Described the first driven unit can comprise each a pair of driver being constructed to around described the first axle rotation, described executor can comprise a pair of claw that is constructed to grasp movement, meanwhile, operating the line that the grasping of described a pair of claw moves can engage with described a pair of driver or engage with described the second driver.In this case, thus the described a pair of driver not engaging with described a pair of claw by line in described a pair of driver and described the second driven unit or described the second driven unit can make described bar engage along the line of specific direction bending with pulling force is provided.
Described driver can be shaped as the hemisphere that limit is passed by described the first axle, and described a pair of driver can be placed as and the big circumference of described hemisphere adjoined mutually place.Described the first driven unit can be shaped as spherical that limit passed by described the first axle, described the second driven unit can be shaped as the band shape around the periphery of described the first driven unit, and described the 3rd driven unit can be shaped as the tubular around described the second driven unit.
Described executor can be constructed to rotate in linkage with described bar, and described bar can be constructed to rotate around described the 3rd axle in linkage with described the 3rd driven unit.Handle can engage with described the first driven unit, and described the first driven unit and/or described the second driven unit and/or described the 3rd driven unit can operate according to the operation of described handle, thereby mobile and rotate described bar.
One side more of the present invention provides a kind of connecting structure for operating robot, on described operating robot, above-mentioned operating theater instruments can be installed.Described operating robot can be equipped with actuator, and can operate described apparatus by the driving force transmitting via described actuator, and shell is arranged on described actuator simultaneously.
Handle can engage with described the first driven unit, and described the first driven unit can be constructed to according to the operation of described handle around the first axle and/or the second axle and/or the rotation of the 3rd axle.Described actuator can comprise the drive block moving back and forth, and described drive block can comprise delthyrium, in described delthyrium, can be inserted with described handle, and can be by handle described in the move operation of described drive block in the time that described handle is inserted to described delthyrium.
Described the first driven unit can comprise each a pair of driver of rotating around described the first axle, can comprise a pair of drive block corresponding with described a pair of driver, have simultaneously varying cross-section handle can with each joint the in described a pair of driver, and described delthyrium can be formed as the shape corresponding with the cross section of described handle.
In the side facing to described handle of described drive block, the size that described delthyrium can be formed as described delthyrium is greater than the sectional area of handle, and the size of described delthyrium diminishes towards the opposite side of described drive block, corresponding with the sectional area of described handle.Therefore, make, in described the first driven unit, can be arranged on initial position by described handle being inserted to described delthyrium.
Described drive block can engage with described actuator, described drive block can be rotated around described the second axle and described the 3rd axle, described the first driven unit can rotate according to moving back and forth around described the first axle of described drive block, described the first driven unit can rotate around described the second axle around the rotation of described the second axle according to described drive block, and described the first driven unit can rotate around described the 3rd axle around the rotation of described the 3rd axle according to described drive block.In addition, described drive block can engage with described actuator, described drive block can be moved back and forth in multiple directions, wherein, described the first driven unit can rotate according to described drive block moving back and forth around described the first axle in one direction, and described the first driven unit can be according to described drive block moving back and forth around described the second axle in another direction rotate.
Another aspect of the present invention provides a kind of operating theater instruments, comprising: driver part, operates by the driving force transmitting from operating robot; And executor, be connected to described driver part, in order to by move and rotate to carry out the required action of operation according to the operation of described driver part.Here, described driver part comprises: the first driven unit, comprises a pair of driver being constructed to around the first axle rotation; And second driven unit, rotate around the second axle crossing with described the first axle, wherein, described executor comprises a pair of claw, it is mobile and can be about specific sloping shaft inclination that described a pair of claw can grasp.Three kinds of operations that the movement of 3 degree of freedom that provided by the rotation of described a pair of driver and the rotation of described the second driven unit and the grasping of described a pair of claw are moved and the inclination of described a pair of claw are moved corresponding.
Described driver part and described executor can engage with the two ends of the bar extending along the 3rd axle respectively, described driver part may further include the 3rd driven unit rotating around described the 3rd axle, and described executor can rotate around the 3rd axle in linkage with the rotation of described the 3rd driven unit.
Another aspect of the present invention provides a kind of operating theater instruments, and it can be arranged on the enterprising line operate of operating robot, and the executor that can close by mobile and rotation and one termination carries out the required action of performing the operation.Described operating theater instruments comprises: the first driven unit, rotates around the first axle; The second driven unit, rotates around the second axle crossing with described the first axle; The 3rd driven unit, around with described the first axle and described the second axle all crossing the 3rd axle rotate; Bar, engages with described the 3rd driven unit, and described bar extends and makes described executor be bonded on an end along a direction; And shell, hold described the first driven unit, described the second driven unit and described the 3rd driven unit.
Other side except above-mentioned, feature and advantage accessory rights is required and following printed instructions in apparent.
Beneficial effect
According to above disclosed aspects more of the present invention, can be provided for the form systematically connecting mobile described executor's driven unit, instead of arrange separately each driven unit, thereby can reduce the size of operating theater instruments.In addition, by forming the driven unit of three dimensional structure, instead of utilize two-dimentional pulley, can complete the transmission that executor's complexity moves required power simultaneously.Embodiments of the invention also can easily be applied to Serpentis type operating theater instruments.
Brief description of the drawings
Fig. 1 and Fig. 2 illustrate according to the apparatus of the robotic surgery of prior art;
Fig. 3 is the synoptic diagram of operating theater instruments according to an embodiment of the invention;
Fig. 4 is the plane graph of the operating theater instruments shown in Fig. 3;
Fig. 5 is the synoptic diagram of operating theater instruments according to another embodiment of the present invention;
Fig. 6 is the synoptic diagram of operating theater instruments according to still another embodiment of the invention;
Fig. 7 is the synoptic diagram of the connecting structure of operating robot according to an embodiment of the invention;
Fig. 8 is the cutaway view of the connecting structure of operating robot according to an embodiment of the invention;
Fig. 9 is the perspective view of the connecting structure of operating robot according to another embodiment of the present invention.
Detailed description of the invention
Because the present invention allows various modification and multiple embodiment, therefore by shown in the drawings and describe specific embodiment in detail in printed instructions.But this is not intended to limit the present invention in concrete embodiment, and should be appreciated that, all modification, coordinate and replacements that do not depart from spirit of the present invention and technical scope all comprise in the present invention.In printed instructions, in the time that some detailed description of prior art is regarded as unnecessarily making essence of the present invention not know, omit these detailed descriptions.
Although the term such as " first " and " second " can be for describing various elements, these elements are limited to above-mentioned term scarcely.Above-mentioned term is only for separating an element and other element region.
The term using in this manual, only for describing specific embodiment, and is not intended to limit the present invention.Unless had different implications clearly in context, odd number is expressed just can comprise plural number expression.In this manual, should be appreciated that, term such as " comprising " and " having " is intended to represent to be disclosed in the existence of feature, quantity, step, operation, element, parts or its combination in description, and is intended to not get rid of the possibility that exists or increase one or more different features, quantity, step, operation, element, assembly or its combination.
To describe some embodiments of the present invention in detail with reference to accompanying drawing hereinafter.In institute's drawings attached, use identical Reference numeral to represent identical or corresponding element, and omit being repeated in this description similar elements.
Fig. 3 is the synoptic diagram of operating theater instruments according to an embodiment of the invention, and Fig. 4 is the plane graph of the operating theater instruments shown in Fig. 3.Fig. 3 and Fig. 4 show the first axle 5, the second axle 7, the 3rd axle 9, the first driven unit 10, driver 12, handle 14, the second driven unit 16, the 3rd driven unit 18, shell 20, bar 22, executor 30, claw 32, line 34 and sloping shaft 36.
The feature of the present embodiment is, is made up of the multiple driven units that are dimensionally bonded together for the executor's of mobile operating theater instruments driver part.Therefore, some pulley lines can join on the driven unit of an integral type, instead of with separately, independently pulley moves executor's all parts, thereby can minimize the size of described apparatus, particularly driver part.In addition,, owing to operating described driver part in one mode, therefore can realize the movement of executor's all parts simultaneously.
Driver part can comprise the first driven unit, the second driven unit and the 3rd driven unit, driver, handle etc., will make further detailed description thereof after a while.Term " driver part " is intended to comprise all elements that operated with mobile executor 30, and in the present embodiment, driver part can be implemented as the form that is placed in the structure in shell 20.
Can be installed to the end of surgical robot arm according to the operating theater instruments of the present embodiment, and can operate by the driving force transmitting via the actuator being formed on robots arm's end.When operation is when described apparatus, can move and rotate and utilize bar 22 to join the executor 30 of far-end to, with the required exercises of performing the operation, such as grasping, cutting, inclination, rotation etc.
Can be formed by the first driven unit 10, the second driven unit 16 and the 3rd driven unit 18 that are placed in shell 20 according to the driver part of the apparatus of the present embodiment.For example, the first driven unit 10 can rotate around the first axle 5 (such as x axle), for example, the second driven unit 16 can engage with the first driven unit 10, so that the first driven unit 10 can be rotated around the second axle 7 (such as y axle), for example, the 3rd driven unit 18 can engage with the second driven unit 16 simultaneously, so that the first driven unit 10 and the second driven unit 16 can be rotated around the 3rd axle 9 (such as z axle).
Bar 22 can engage with the 3rd driven unit 18, and executor 30 can engage with the end of bar 22, thereby when the 3rd driven unit 18 is in the time that z axle rotates, bar 22 and executor 30 can correspondingly rotate around z axle.
As shown in Figure 3, by the first driven unit 10 is formed as spherical, the second driven unit 16 is formed as to the peripheral band shape around the first driven unit 10, and the first driven unit 10 and the second driven unit 16 are axially engaged along the first axle 5, can make the first driven unit 10 rotate around the first axle 5.In addition, by axially joining the second driven unit 16 to the 3rd driven unit 18 along the second axle 7, can make the second driven unit 16 rotate around the second axle 7, and the first driven unit 10 also can rotate around the second axle 7 together with the second driven unit 16.The 3rd driven unit 18 can be arranged in shell 20 like this, and the 3rd driven unit 18 can be rotated around the 3rd axle 9, thereby the first driven unit 10 can be rotated around the 3rd axle 9 with the second driven unit 16 together with the 3rd driven unit 18.
The driven unit that can for example, be rotated by three axles (, x-axis, y-axis and z-axis) that can be in space according to the driver part of the apparatus of the present embodiment in this way, forms.In the time that line 34 is connected to each driven unit and engage with executor 30 all parts by pulley, the rotation of each driven unit can make executor 30 all parts correspondingly move, afterwards, if driven unit rotates in a direction, instead of in each axial rotation, executor 30 parts can move in the corresponding way simultaneously.In other words, owing to having formed three dimensional structure according to the driven unit of the driver part of the present embodiment, therefore can realize along each axial moving with individual part, simultaneously.
With reference to Fig. 3, when power is applied on handle 14 along a direction, some part of driven unit is rotated or when unitary rotation, can transmit driving force via the pulley line 34 that joins described driven unit to, executor 30 parts are moved.
The executor 30 of operating theater instruments can join the far-end of bar 22 to, and can comprise that execution grasps or a pair of claw 32 of cutting action.At the fulcrum place of claw 32, the sloping shaft 36 that can binding energy makes one group of claw 32 integrally tilt with special angle.Whole executor 30 can be constructed to rotate in linkage with the rotation of bar 22.
In this case, the first driven unit 10 of driver part can engage claw 32 with this by pulley.When the first driven unit 10 is in the time that the first axle 5 rotates, can transmit driving force by line 34, make thus this can face specific direction to claw 32, grasp and move or provide all these operations.
If use one group of pulley line 34 to move this to claw 32, can connect this to claw 32 by gear etc., and pulley line 34 can engage or engage with this part that claw 32 is engaged with this to one in claw 32, to transmit driving force.Certainly, can apply and can make this carry out and grasp mobile various other and use the device of one group of pulley claw 32.
In the situation being made up of a pair of driver 12 at the first driven unit 10, one in driver 12 can be moved for the grasping of operation sheet pawl 32, and the direction that another driver 12 can be faced for changing claw 32.In other words, the first driver can be controlled the opening and closing of claw, and the second driver can be controlled the direction of claw.Can apply various devices and operate described claw, such as by pulley, driver 12 and this being engaged claw 32 respectively.
For independent mobile this each in claw 32, the first driven unit 10 can be divided into a pair of driver 12.In other words, the first driven unit 10 can be made up of a pair of driver 12 of rotating around the first axle 5 separately, and each driver 12 is connected respectively to claw 32 by pulley, thereby makes to operate separately this each in claw 32.
As shown in Figure 3, be formed as in spherical situation at the first driven unit 10, form each in a pair of driver 12 of the first driven unit 10 and can be shaped as identical with the half of the first driven unit 10.In other words, a pair of driver 12 can be shaped as hemisphere and can be placed as and make big circumference (circumference obtaining in the time that spheroid is divided into two equal portions) adjoin placement with facing one another, and the first axle 5 is through the limit of each hemisphere.Therefore, the first driven unit 10 can be divided into a pair of driver 12.
But, not to be formed as hemisphere according to the driver 12 of the present embodiment.Obviously, can cut apart the first driven unit 10 with the whole bag of tricks, as long as each can the rotation and this rotation can operate each in a pair of claw 32 around the first axle 5 in driver 12.
The second driven unit 16 of driver part can engage with sloping shaft 36 by pulley, so that claw 32 tilts.In other words, when the second driven unit 16 is in the time that the second axle 7 rotates, can transmit driving force via line 34, claw 32 is tilted.
Owing to can rotating around the second axle 7 in linkage around the rotation of the second axle 7 with the second driven unit 16 according to first driven unit 10 of the present embodiment, also can join the correct position on the first driven unit 10 to for the pulley line 34 tilting.
For example, in the situation being formed by a pair of driver 12 at the first driven unit 10, can engage with in driver 12 (referring to the 34a of Fig. 4) for the one group of pulley line 34 of that operates claw 32, meanwhile, can engage with another driver 12 (referring to the 34b of Fig. 4) for another the one group of pulley line 34 that operates claw 32.
In addition, being connected to one in the pulley line 34 of sloping shaft can engage with in driver 12, and another strand can engage with another driver 12 (referring to the 34c of Fig. 4).
The 3rd driven unit 18 that is constructed to rotate around the 3rd axle 9 can engage with bar 22, thereby makes bar 22 and can rotate around the 3rd axle 9 in linkage with the rotation of the 3rd driven unit 18 with the executor 30 that the far-end Jie of described bar closes.For example, executor 30 can be fixed on bar 22, and bar 22 can be fixed on the 3rd driven unit 18, and thus, the driving force of the rotation of the 3rd driven unit 18 can directly be sent to executor 30.
Example shown in Fig. 3 is that the driver part of operating theater instruments is formed as to three dimensional structure, and minimized size thus.In this example, the first driven unit 10 can be formed as spherical, and the first axle 5 is through its limit; The second driven unit 16 can be formed as being with shape, around the periphery of the first driven unit 10, and axially engages with the first driven unit 10 by the first axle 5; And the 3rd driven unit 18 can be formed as tubular, around the first driven unit 10 and the second driven unit 16, and axially engage with the second driven unit 16 by the second axle 7.As described above, the 3rd driven unit 18 can be placed in shell 20 as a kind of structure that can rotate around the 3rd axle 9.
As shown in Figure 3, three groups of pulley lines 34 can engage with the various piece of the first driven unit 10.Be divided in the situation of a pair of driver 12 at the first driven unit 10, can make respectively this engage by pulley driver 12 and a pair of claw 32 with two groups of pulley lines 34, and remaining one group of pulley line 34 can be for making the first driven unit 10 or the second driven unit 16 engage with executor 30 sloping shaft 36 by pulley.
One group of pulley line 34 can be connected the second driven unit 16 with sloping shaft 36, for example, or pulley line can join the correct position on the first driven unit 10 to,, one joins a side of the first driven unit 10 to, and another strand joins the opposite side of the first driven unit 10 to.As described above, if the first driven unit 10 is divided into a pair of driver 12, one pulley line 34 can join in driver 12 to, and another strand can join another driver 12 to.
Therefore, by a pair of claw 32 being joined with pulley to the first driven unit 10 that is constructed to rotate around the first axle 5, with pulley, sloping shaft 36 is joined to the second driven unit 16 that is constructed to rotate around the second axle 7, and join bar 22 and executor 30 to be constructed to rotate around the 3rd axle 9 the 3rd driven unit 18, can control all movements of executor 30,, grasp and move, tilt mobile and rotate mobile.
As shown in Figure 3, handle 14 can join the first driven unit 10 to, and, can the first driven unit 10 be rotated in one direction by apply power on handle 14.In other words, by lever 14, arbitrary axle that can be in the first axle 5, the second axle 7 and the 3rd axle 9 or rotate the first driven unit 10 by the synthetic a direction of the direction of these axles.In this process, not only the first driven unit 10, and the second driven unit 16 and the 3rd driven unit 18 also can together with rotate.
Be divided in the situation of a pair of driver 12 at the first driven unit 10, can operate the handle 14 engaging with driver respectively, wherein, the claw 32 that rotating driver 12 can be controlled separately grasps mobile, rotate the second driven unit 16 and can make executor 30 tilt, and rotation the 3rd driven unit 18 can unitary rotation executor 30.
Can also utilize single line 34 to operate a pair of claw 32, instead of each in mobile claw 32 respectively.For this reason, the first driven unit 10 can be formed as single spheroid, and be not divided into two parts, correct position (for example can be in the core punching of the first driven unit 10, described line can insert described hole) and the other end of line 34 that one end of isochrone is connected on the first driven unit 10 are connected to a pair of claw.Then, can operate the handle 14 engaging with the first driven unit 10, the first driven unit 10 is rotated around the first axle 5, thereby a pair of claw 32 can be moved together, carry out the grasping opening or closing and move.
By carrying out according to the operation of driven unit the speed that adjusting actuator 30 moves, can provide larger convenient and can reduce the size of driver part.For example, if the distance between the point joining at the first driven unit 10 top sheave lines 34 is adjusted so that the ratio between corner and the final corner of executor 30 of the first driven unit 10 is 2: 1, just can make executor 30 move closer to 90 degree by making the first driven unit only rotate 45 degree so.
By making like this first driven unit 10, the second driven unit 16 and the 3rd driven unit 18 form dimensionally interconnected structure, instead of arrange individually and two-dimensionally the driven unit for mobile executor 30, can reduce the size of driver part.
Fig. 5 is the synoptic diagram of operating theater instruments according to another embodiment of the present invention.Fig. 5 shows the first axle 5, the second axle 7, the 3rd axle 9, the first driven unit 10, driver 12, handle 14, the second driven unit 16, the 3rd driven unit 18, shell 20, bar 22, executor 30, claw 32, line 34 and sloping shaft 36.
Disclosed embodiment utilizes such example to describe above, and in this example, the first driven unit 10 is shaped as spherical, and if the first driven unit 10 is divided into a pair of driver 12, driver 12 is shaped as hemisphere.But the first driven unit 10 is not according to an aspect of the present invention to be formed as spherically, the first driven unit 10 can be formed as various shapes, as long as can obtain and disclosed embodiment is identical above function and action.
As shown in Figure 5, by the first driven unit 10 being formed as "T"-shaped and the second driven unit 16 being formed as, by the first axle 5 and the cross that the first driven unit 10 axially engages, can making the first driven unit 10 rotate around the first axle 5.In addition, by the 3rd driven unit 18 being formed as to around the peripheral band shape of the second driven unit 16 and by the second axle 7, the second driven unit 16 and the 3rd driven unit 18 are axially engaged, can make the second driven unit 16 rotate around the second axle 7, wherein, the first driven unit 10 also can rotate around the second axle 7 together with the second driven unit 16.And by the 3rd driven unit 18 being made in shell 20 the 3rd driven unit 18 can rotate around the 3rd axle 9, the first driven unit 10 can rotate around the 3rd axle 9 with the second driven unit 16 together with the 3rd driven unit.
In this way, can be formed by the driven unit that can rotate around three spatial axes according to the driver part of the apparatus of the present embodiment, and in the time rotating in described driven unit a direction axial except each, can realize the movement of each parts of executor 30 according to described rotation simultaneously.Like this, only just can complete and each axial relevant movement with once-through operation.
With reference to Fig. 5, one or more handles 14 can engage with the first driven unit 10, or the end of T shape the first driven unit 10 can be used as handle 14.To disclosed embodiment is similar above, when power is applied to handle 14 parts along a direction, while making some a part or whole part rotation of driven unit, can transmit driving force via the pulley line 34 engaging with driven unit, rotate with the parts that make executor 30.
If the first driven unit 10 is installed as to single component, or the first driven unit 10 is not to be made up of the driver 12 of rotating separately, can the first driven unit 10 and a pair of claw 32 be engaged with independent line.In other words, when the first driven unit 10 is in the time that the first axle 5 rotates, can transmit driving force via line 34, thereby it is mobile that a pair of claw 32 can be grasped.Can apply various devices makes a pair of claw 32 utilize one or more line to grasp movement.
Each in mobile a pair of claw 32 respectively, the first driven unit 10 can be formed as a pair of driver 12.In other words, as shown in Figure 5, driver 12 can be formed as T shape member, and the first driven unit 10 can form by T shape member, is formed by a pair of driver.
In the example shown in Fig. 5, the first driven unit 10 can be formed by T shape member, and the first axle 5 is through the crossing point of line of each " T " simultaneously.The second driven unit 16 (can be to make two interconnected daggers of T shape member) can axially engage with the first driven unit 10 by the first axle 5, meanwhile, the 3rd driven unit 18 (can be shaped as the peripheral band shape around the first driven unit 10 and the second driven unit 16) can axially engage with the second driven unit 16 by the second axle 7.The 3rd driven unit 18 can be placed in shell 20, as the structure that can rotate around the 3rd axle 9.
The method connecting by pulley between the each parts of connection, driven unit and executor between rotating method, the driven unit of each driven unit and driving mechanism can use with the example shown in Fig. 3 those are basic identical.In the present embodiment, one or more handles 14 can be joined between the first driving on 10, or, can be by the end of the vertical portion of T shape member as handle 14.The operational approach of handle 14 and driven unit can use with the example shown in Fig. 3 according to the rotating mechanism of the operation of handle 14 those are basic identical.
Like this, the first driven unit 10, the second driven unit 16 and the 3rd driven unit 18 can have different shapes according to an embodiment of the invention, comprising: strip, framework, tabular, band shape etc.Obviously, do not depart from spirit of the present invention in the operational approach of each driven unit and final movement of the executor 30, driven unit can be implemented as various shapes and structure.
Fig. 6 is the synoptic diagram of operating theater instruments according to still another embodiment of the invention.Fig. 6 shows the first driven unit 10, driver 12, handle 14, the second driven unit 16, the 3rd driven unit 18, shell 20, bar 22, executor 30, claw 32 and line 34.
In the present embodiment, the Structural application of driver part described above is in so-called " Serpentis type " apparatus.Serpentis type apparatus refers to that bar wherein can be deformed into bending in one direction, thereby increases the degree of freedom of the required action of operation and allow with a kind of apparatus facilitating and method is performed the operation intuitively.
Can operate Serpentis type apparatus with joining the point that bar 22 will be out of shape and at least four lines 34 that are connected with driver part to.Then,, in the time of operation driver part, the pulling force being applied on every line 34 can be correspondingly different, thereby make bar 22 towards the larger direction bending of pulling force.
Therefore, apparatus allows bar 22 oneself's distortion and rotates, thereby makes the executor 30 who engages with the end of bar 22 can face desired direction.With disclosed embodiment is similar above, this apparatus can also be formed as comprising the first driven unit 10, the second driven unit 16 and the 3rd driven unit 18 that are placed in shell 20, and the 3rd driven unit 18 engages with bar 22.
In the example shown in Fig. 3 and Fig. 5, the formula assembly if the first driven unit 10 forms as one, driver part can engage with two groups of pulley lines 34 (each one group of the first driven unit and the second driven unit), and, if the first driven unit 10 is formed as a pair of driver 12, driver part can engage with three groups of pulley lines 34 (each one group of each in a pair of driver and the second driven unit).In the time that driver part is applied to Serpentis type apparatus, two groups of lines 34, four lines 34 can be used to provide the pulling force for bent stick 22 in specific direction.
Situation at the line 34 engaging with the first driven unit 10 for bar 22 is out of shape, the handle 14 that operation engages with the first driven unit 10 in specific direction can make bar 22 at the Direction distortion consistent with the direction of lever 14.
In this case, can operate a pair of claw 32 moving for executor 30 grasping with extra line.In other words, in a pair of driver and the second driven unit, except those with for making that line 34 that bar 22 is out of shape engages, remaining that can (for example engage with extra line, punch and extra line inserted to described hole by the core at the first driven unit 10), move for the grasping that completes a pair of claw 32.
Therefore, both can, easily for some parts of mobile executor 30, also can be applied to different apparatus structures, such as Serpentis type apparatus according to the driver part of the present embodiment.Because bar 22 can, according to the direction of operating distortion of driver part, therefore can intuitively and more easily operate described apparatus.
Similar to the example shown in Fig. 3, also can be formed as spherically according to first driven unit 10 of the present embodiment, and the first driven unit 10 can be divided into the two halves that form a pair of driver 12.In other words, a pair of driver 12 can be formed as hemispherical, and simultaneously big circumference adjoins placement relative to one another, and the first axle 5 is through the limit of each hemisphere, thereby makes the first driven unit 10 can be divided into a pair of driver 12.
Certainly, according to the driver part of the apparatus of the present embodiment can be also and the structure of the structural similarity shown in Fig. 3, wherein, the first driven unit 10 can be formed as spherical, and the first axle 5 is through its limit; The second driven unit 16 can be formed as being with shape, around the periphery of the first driven unit 10, and axially engages with the first driven unit 10 by the first axle 5; And the 3rd driven unit 18 can be formed as tubular, around the first driven unit 10 and the second driven unit 16, and axially engage with the second driven unit 16 by the second axle 7.
In addition, bar 22 can engage with the 3rd driven unit 18 that can rotate around the 3rd axle 9, thereby makes bar 22 and the executor 30 that engages with the end of bar 22 can rotate around the 3rd axle 9 in linkage with the rotation of the 3rd driven unit 18.
One or more handles 14 can join the first driven unit 10 to, and, can the first driven unit 10 be rotated in one direction by apply power on handle 14.In other words, can handlebar 14 make the arbitrary axle of the first driven unit 10 in the first axle 5, the second axle 7 and the 3rd axle 9 or rotate the first driven unit 10 by the synthetic a direction of the direction of these axles.In this process, not only the first driven unit 10, and the second driven unit 16 and the 3rd driven unit 18 also can together with operate, bar is deformed into towards specific direction.
Fig. 7 is the synoptic diagram of the connecting structure for operating robot according to an embodiment of the invention, and Fig. 8 is the cutaway view of the connecting structure for operating robot according to an embodiment of the invention.Fig. 7 and Fig. 8 show robots arm 1, apparatus 3, the first driven unit 10, driver 12, handle 14, the second driven unit 16, the 3rd driven unit 18, shell 20, bar 22, executor 30, actuator 40, drive block 42 and delthyrium 44.
The present embodiment relates to the structure for above-mentioned apparatus 3 being joined to operating robot, that is, and and for the connecting structure of installing apparatus 3.As mentioned above, in the time that apparatus 3 is formed as the three-dimensional structure engaging, can be conducive to make the end that is about to the surgical robot arm 1 of installing apparatus 3 to be formed as the shape corresponding with the structure of apparatus 3 and structure.
According to the present embodiment, connecting structure between operating robot and apparatus 3 can comprise the actuator 40 of the end that is formed on surgical robot arm 1, shell 20 parts of apparatus 3 can be arranged on actuator 40, and can carry out operating apparatus 3 by the driving force transmitting from actuator 40.
In disclosed embodiment above, handle 14 can join on the first driven unit 10 of apparatus 3, and the first driven unit 10 can according to the operation on handle 14 around the first axle 5, the second axle 7 and the 3rd axle 9 or by these axially synthetic a direction rotate.
The actuator 40 that the apparatus 3 of structure is installed in this way can comprise drive block 42, and described drive block 42 can move back and forth along straight line or curved path in specific region.Can in drive block 42, form the delthyrium 44 that can be inserted by handle 14.In the time that apparatus 3 is arranged on actuator 40, handle 14 can insert in delthyrium 44, and in the time that drive block 42 moves back and forth in specific region, can be on the moving direction of drive block 42 lever 14.
According to disclosed embodiment above, if the first driven unit 10 is formed as a pair of driver 12 with mobile a pair of claw 32 respectively, drive block 42 also can correspondingly be formed as a pair of.As fruit stem 14 will with each joint the in a pair of driver 12, a pair of drive block 42 can have respectively the delthyrium 44 that can be inserted by handle 14.
Form if driver 12 and drive block 42 are all distinguished in couples, exist handle 14 in the time that apparatus 3 is installed to actuator 40 not insert the risk in correct delthyrium 44.The delthyrium 44 that makes handle 14 inserting errors may be the out of order reason of apparatus 3.
In order to avoid from the beginning occurring this risk, can make the handle that joins each driver 12 to there is different shapes, and the delthyrium 44 of boring a hole in drive block 42 can be shaped as the shape corresponding with the shape of handle 14 separately.In other words, a pair of handle 14 can be formed as having different cross section cylinder; For example, a handle 14 can be formed as square column, and another handle 14 can be formed as triangular prism, a pair of delthyrium 44 can be made to be one be square and another is triangle simultaneously, thereby in the time that apparatus 3 is installed on actuator 40, handle 14 can correctly insert in their pairing delthyrium 44.
If handle the handle 14 that engages with the first driven unit 10, some parts of mobile executor 30 correspondingly, otherwise, if some parts of executor 30 not at their initial position, handle 14 may also depart from their initial position.For example, if after robotic surgery completes, remove apparatus 3 in the time not making executor 30 return to its initial position, handle 14 can keep departing from their initial position.Subsequently, in the time that apparatus 3 is arranged on robots arm 1 again, because handle 14 is not at their initial position, therefore handle 14 can not correctly insert delthyrium 44.
For head it off, the shape of delthyrium 44 can be formed as, and in the time watching the cross section of drive block 42, the size of the side facing to handle 14 of delthyrium 44 is greater than the sectional area of handle 14, and the size decreases of delthyrium 44 sides towards the opposite, until its size finally equals the sectional area of handle 14 substantially.Then, can obtain a kind of auto-initiation, even if make when handle 14 is not during at initial position, handle 14 also can be installed to the initial position that naturally returns to it on actuator 40 and when handle 14 inserts delthyrium 44 at apparatus 3.
Describe according to the operation of the drive block 42 of the present embodiment referring again to Fig. 7 continuation, the drive block 42 being assemblied on actuator 40 can be constructed to rotate around the second axle 7 and the 3rd axle 9 except moving back and forth in a certain region as described above.Can realize and drive block 42 is moved back and forth and rotate mobile mechanism around the second axle 7 and the 3rd axle 9 with the whole bag of tricks, not provide its detailed description here.
In the time that apparatus 3 is installed on actuator 40, handle 14 can insert in delthyrium 44, and therefore, mobile drive block 42 can make handle 14 correspondingly be handled.In the example shown in Fig. 7, move drive block 42 in the mode moving back and forth handle 14 is correspondingly operated, make thus the first driven unit 10 to rotate around the first axle 5; Make drive block 42 rotate handle 14 is correspondingly operated around the second axle 7, make thus the first driven unit 10 to rotate around the second axle 7; And make drive block 42 rotate handle 14 is correspondingly operated around the 3rd axle 9, make thus the first driven unit 10 to rotate around the 3rd axle 9.
But drive block 42 is not to rotate around the second axle 7, but can be constructed to move back and forth along two orthogonal directions, as shown in Figure 7.Then, in the time that drive block 42 moves back and forth along a direction, correspondingly handlebar 14, the first driven unit 10 is rotated around the first axle 5, and in the time that drive block 42 moves back and forth along other direction, correspondingly handlebar 14, makes the first driven unit 10 and/or the second driven unit 16 rotate around the second axle 7.
When the first driven unit 10 is in the time that the first axle 5 rotates, a pair of claw 32 can rotate in linkage and move therewith, to be opened or closed.When the first driven unit 10 is in the time that the second axle 7 rotates, thereby not only the second driven unit 16 can rotate therewith to move in linkage around the second axle 7 and rotates, and it is mobile to make executor 30 tilt.When the first driven unit 10 is in the time that the 3rd axle 9 rotates, thereby not only the second driven unit 16 and the 3rd driven unit 18 and bar 22 can rotate therewith to move in linkage around the 3rd axle 9 and rotate, and can make executor 30 rotate around the 3rd axle 9.
As mentioned above, the speed can adjusting actuator 30 moving according to the operation of driven unit, for example, making the ratio between the corner of the first driven unit 10 and final corner of the executor 30 is 2: 1.Then, only can make executor 30 move required amount according to the small operation that is assemblied in the drive block 42 on actuator 40.
Can be constructed to make a pair of driver 12 according to the driver part of the apparatus of the present embodiment, i.e. two drivers 12, rotate around the first axle 5, the second driven unit 16 rotates around the second axle 7, and the 3rd driven unit 18 rotates around the 3rd axle 9, thereby can exist four possible rotations altogether to move.On the other hand, executor 30 needs four operations altogether, for operating a pair of driving claw 32 (opening and closing motion), claw 32 being tilted and unitary rotation executor 30.
If the rotation of the 3rd driven unit 18 is moved with executor 30 rotating operation and is associated, remaining three movements of driver part, i.e. the movement of three degree of freedom, can at random match with three operations of executor 30.In other words, driver 12 is not must be relevant to the opening and closing of claw 32 around the rotation of the first axle 5, and the second driven unit 16 neither be relevant to the tilt operation of claw 32 around the rotation of the second axle 7.Three of driver part drive movement to match with three kinds of operations (for opening and closing the each of a pair of claw 32 and inclination etc.) in every way.
Fig. 9 is the perspective view of the connecting structure for operating robot according to another embodiment of the present invention.Fig. 9 shows the first axle 5, the second axle 7, the 3rd axle 9, the first driven unit 10, the second driven unit 16, the 3rd driven unit 18 and bar 22.
Example as shown in Figure 9, is not to move in linkage mutually according to the first driven unit 10, the second driven unit 16 and the 3rd driven unit 18 of the present embodiment, and can makes each driven unit move independently.
In other words, the first driven unit can be rotated around the first axle 5, the second driven unit 16 can be rotated around the second axle 7 mutually independently with the rotation of the first driven unit 10, the 3rd driven unit 18 can be rotated around the 3rd axle 9 mutually independently with the first driven unit 10 and the second driven unit 18.
For example, in Fig. 9, when the first driven unit 10 is in the time that the second axle 7 rotates, the second driven unit 16 not only can rotate in linkage with the first driven unit 10, can also self rotate around the second axle 7 individually.In the situation of rotating individually at the second driven unit 16, the actuator on operating robot can additionally comprise the drive block for moving individually the second driven unit 16.
In addition, when the first driven unit 10 and the second driven unit 16 are in the time that the 3rd axle 9 rotates, thereby the 3rd driven unit 18 rotates together with not only can engaging all with the second driven unit 16 with the first driven unit 10, can also self rotate around the 3rd axle 9 individually.
Industrial applicability
Although described the present invention with reference to specific embodiment, it should be appreciated by those skilled in the art that in the case of not departing from the spirit and scope of the present invention that attached claim limits as follows, can carry out various modification and improvement to the present invention.
Claims (26)
1. be arranged on the operating theater instruments on operating robot, described operating theater instruments is constructed to carry out the required action of operation by executor mobile and that rotation engages with one end of this operating theater instruments, and described operating theater instruments comprises:
The first driven unit, is constructed to rotate around the first axle;
The second driven unit, engages with described the first driven unit, and described the second driven unit is constructed to make described the first driven unit to rotate around the second axle crossing with described the first axle;
The 3rd driven unit, engages with described the second driven unit, and described the 3rd driven unit is constructed to make described the second driven unit to rotate around the 3rd axle crossing with described the second axle;
Bar, engages with described the 3rd driven unit, and described bar extends and makes described executor be bonded on the end of described bar along a direction; And
Shell, holds described the first driven unit, described the second driven unit and described the 3rd driven unit,
Wherein, described the first driven unit is shaped as spherical that limit passed by described the first axle, described the second driven unit is shaped as the band shape around the periphery of described the first driven unit, and described the 3rd driven unit is shaped as the tubular around described the second driven unit
Or,
Described the first driven unit is formed as "T"-shaped, described the second driven unit is formed as the cross axially engaging with described the first driven unit by described the first axle, and described the 3rd driven unit is formed as around the peripheral band shape of described the second driven unit and by described the second axle, described the second driven unit and described the 3rd driven unit axially being engaged.
2. operating theater instruments as claimed in claim 1, wherein, described executor comprises that being constructed to execution grasps mobile a pair of claw, and
Line engages with described the first driven unit, and described line is constructed to operate described a pair of claw.
3. operating theater instruments as claimed in claim 2, wherein, one end of described line is through a part for described the first driven unit, and the other end of described line is connected with described a pair of claw.
4. operating theater instruments as claimed in claim 1, wherein, described the first driven unit comprises each a pair of driver being constructed to around described the first axle rotation.
5. operating theater instruments as claimed in claim 4, wherein, described executor comprises that being constructed to execution grasps mobile a pair of claw, and
A pair of pulley line engages with described a pair of driver respectively, and described a pair of pulley line is constructed to operate described a pair of claw.
6. operating theater instruments as claimed in claim 4, wherein, described executor comprises:
A pair of claw, is constructed to carry out grasp and moves;
One in described a pair of driver is moved for the grasping that operates described a pair of claw; And
The direction that another in described a pair of driver faced for changing described a pair of claw.
7. operating theater instruments as claimed in claim 4, wherein, each described driver is shaped as the hemisphere that limit is passed by described the first axle, and described a pair of driver is placed as and makes the big circumference of each described hemisphere adjoin placement with facing one another, the circumference of wherein said big circumference for obtaining in the time that spheroid is divided into two equal portions.
8. operating theater instruments as claimed in claim 1, wherein, described executor is constructed to tilt around sloping shaft, and
Pulley line engages with described the second driven unit, and described pulley line engages described executor can be tilted with described sloping shaft.
9. operating theater instruments as claimed in claim 1, wherein, described executor is constructed to rotate in linkage with described bar, and
Described bar is constructed to rotate around described the 3rd axle in linkage with described the 3rd driven unit.
10. operating theater instruments as claimed in claim 9, wherein, described executor engages with described bar, and described bar engages and is integrated with described the 3rd driven unit.
11. operating theater instruments as claimed in claim 1, wherein, handle engages with described the first driven unit, and described the first driven unit is constructed to rotate around described the first axle according to the operation of described handle.
12. 1 kinds of operating theater instruments that are arranged on operating robot, described operating theater instruments is constructed to rotate the bar extending along direction, makes to move towards operative site with the executor of the distal engagement of described bar, and described operating theater instruments comprises:
The first driven unit, is constructed to rotate around the first axle;
The second driven unit, engages with described the first driven unit, and described the second driven unit is constructed to make described the first driven unit to rotate around the second axle crossing with described the first axle;
The 3rd driven unit, engages with described the second driven unit, and described the 3rd driven unit is constructed to make described the second driven unit to rotate around the 3rd axle crossing with described the second axle; And
Shell, holds described the first driven unit, described the second driven unit and described the 3rd driven unit,
Wherein, described bar engages with described the 3rd driven unit,
Wherein, described the first driven unit is shaped as spherical that limit passed by described the first axle, described the second driven unit is shaped as the band shape around the periphery of described the first driven unit, and described the 3rd driven unit is shaped as the tubular around described the second driven unit
Or,
Described the first driven unit is formed as "T"-shaped, described the second driven unit is formed as the cross axially engaging with described the first driven unit by described the first axle, and described the 3rd driven unit is formed as around the peripheral band shape of described the second driven unit and by described the second axle, described the second driven unit and described the 3rd driven unit axially being engaged.
13. operating theater instruments as claimed in claim 12, wherein, line and each joint in described the first driven unit and described the second driven unit, thus described line provides pulling force to make described bar towards the direction bending that is applied in larger pulling force.
14. operating theater instruments as claimed in claim 12, wherein, described the first driven unit comprises each a pair of driver being constructed to around described the first axle rotation,
Described executor comprises a pair of claw that is constructed to grasp movement, and
Line engages with described a pair of driver or engages with described the second driven unit, and described line is constructed to operate the grasping of described a pair of claw and moves.
15. operating theater instruments as claimed in claim 14, wherein, described driver is shaped as the hemisphere that limit is passed by described the first axle, and described a pair of driver is placed as and makes the big circumference of each described hemisphere adjoin placement with facing one another, the circumference of wherein said big circumference for obtaining in the time that spheroid is divided into two equal portions.
16. operating theater instruments as claimed in claim 12, wherein, described executor is constructed to rotate in linkage with described bar, and
Described bar is constructed to rotate around described the 3rd axle in linkage with described the 3rd driven unit.
17. operating theater instruments as claimed in claim 12, wherein, handle engages with described the first driven unit, and at least one in described the first driven unit, described the second driven unit and described the 3rd driven unit be constructed to operate according to the operation of described handle, thus mobile described bar.
18. 1 kinds of connecting structures for operating robot, are provided with the described operating theater instruments according to any one in claim 1 or claim 12 on described operating robot,
Wherein, described operating robot is equipped with actuator, and operates described apparatus by the driving force transmitting via described actuator, and shell is arranged on described actuator simultaneously.
19. connecting structures according to claim 18, wherein, handle engages with described the first driven unit, and described the first driven unit is constructed to the one or more axles rotations in being selected from the group that comprises the first axle, the second axle and the 3rd axle according to the operation of described handle.
20. connecting structures according to claim 19, wherein, described actuator comprises the drive block that is constructed to move back and forth,
Described drive block is included in the delthyrium forming on described drive block, is inserted with described handle in described delthyrium, and
In the time that described handle is inserted to described delthyrium by handle described in the move operation of described drive block.
21. connecting structures according to claim 20, wherein, described the first driven unit comprises each a pair of driver being constructed to around described the first axle rotation, described actuator comprises a pair of described drive block corresponding with described a pair of driver,
There is the described handle of varying cross-section and each joint in described a pair of driver, and
Described delthyrium is formed as the shape corresponding with the cross section of described handle.
22. connecting structures according to claim 20, wherein, in the side facing to described handle of described drive block, the size of described delthyrium is greater than the sectional area of described handle, and the size of described delthyrium diminishes towards the opposite side of described drive block, corresponding with the sectional area of described handle.
23. connecting structures according to claim 22, wherein, by described handle is inserted in described delthyrium, make described the first driven unit be arranged on initial position.
24. connecting structures according to claim 20, wherein, described drive block engages with described handle, and described drive block can be rotated around described the second axle and described the 3rd axle,
Described the first driven unit rotates according to moving back and forth around described the first axle of described drive block,
Described the first driven unit rotates around described the second axle around the rotation of described the second axle according to described drive block, and
Described the first driven unit rotates around described the 3rd axle around the rotation of described the 3rd axle according to described drive block.
25. connecting structures according to claim 20, wherein, described drive block engages with described handle, and described drive block can be moved back and forth in multiple directions,
Described the first driven unit according to described drive block in one direction move back and forth around described first axle rotate, and
Described the first driven unit is moving back and forth around described the second axle rotation in another direction according to described drive block.
26. 1 kinds of operating theater instruments that are arranged on operating robot, the executor that described operating theater instruments is constructed to close by mobile and rotation and one termination carries out the required action of performing the operation, and described operating theater instruments comprises:
The first driven unit, is constructed to rotate around the first axle;
The second driven unit, is constructed to rotate around the second axle crossing with described the first axle;
The 3rd driven unit, be constructed to around with described the first axle and described the second axle all crossing the 3rd axle rotate;
Bar, engages with described the 3rd driven unit, and described bar extends and makes described executor be bonded on the end of described bar along a direction; And
Shell, holds described the first driven unit, described the second driven unit and described the 3rd driven unit,
Wherein, described the first driven unit is shaped as spherical that limit passed by described the first axle, described the second driven unit is shaped as the band shape around the periphery of described the first driven unit, and described the 3rd driven unit is shaped as the tubular around described the second driven unit
Or,
Described the first driven unit is formed as "T"-shaped, described the second driven unit is formed as the cross axially engaging with described the first driven unit by described the first axle, and described the 3rd driven unit is formed as around the peripheral band shape of described the second driven unit and by described the second axle, described the second driven unit and described the 3rd driven unit axially being engaged.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020080126404A KR101062188B1 (en) | 2008-12-12 | 2008-12-12 | Coupling Structure of Surgical Instrument and Surgical Robot |
| KR10-2008-0126404 | 2008-12-12 | ||
| PCT/KR2009/007289 WO2010068003A2 (en) | 2008-12-12 | 2009-12-08 | Surgical instrument and coupling structure for surgical robot |
Publications (2)
| Publication Number | Publication Date |
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| CN102256550A CN102256550A (en) | 2011-11-23 |
| CN102256550B true CN102256550B (en) | 2014-10-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200980149982.8A Active CN102256550B (en) | 2008-12-12 | 2009-12-08 | Surgical instrument and coupling structure for surgical robot |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US20110004225A1 (en) |
| KR (1) | KR101062188B1 (en) |
| CN (1) | CN102256550B (en) |
| WO (1) | WO2010068003A2 (en) |
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| US20090171161A1 (en) * | 2007-12-10 | 2009-07-02 | Usgi Medical, Inc. | Steerable endoscopic instruments |
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| JP特開2001-277157A 2001.10.09 |
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| KR20100067838A (en) | 2010-06-22 |
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| CN102256550A (en) | 2011-11-23 |
| US20110004225A1 (en) | 2011-01-06 |
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